{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,20]],"date-time":"2026-05-20T09:11:49Z","timestamp":1779268309654,"version":"3.51.4"},"reference-count":40,"publisher":"IEEE","license":[{"start":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T00:00:00Z","timestamp":1685318400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T00:00:00Z","timestamp":1685318400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001665","name":"Agence Nationale de la Recherche","doi-asserted-by":"publisher","award":["ANR-19-P3IA-0001"],"award-info":[{"award-number":["ANR-19-P3IA-0001"]}],"id":[{"id":"10.13039\/501100001665","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,5,29]]},"DOI":"10.1109\/icra48891.2023.10161367","type":"proceedings-article","created":{"date-parts":[[2023,7,4]],"date-time":"2023-07-04T17:20:56Z","timestamp":1688491256000},"page":"3686-3692","source":"Crossref","is-referenced-by-count":2,"title":["A minimum swept-volume metric structure for configuration space"],"prefix":"10.1109","author":[{"given":"Yann","family":"de Mont-Marin","sequence":"first","affiliation":[{"name":"Inria,France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jean","family":"Ponce","sequence":"additional","affiliation":[{"name":"L'Ecole normale supérieure (ENS-PSL, CNRS, Inria),Département d'informatique,France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jean-Paul","family":"Laumond","sequence":"additional","affiliation":[{"name":"Inria,France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1142\/S0218654306000858"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1007\/s12532-018-0139-4"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-2063-1"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/iros45743.2020.9341396"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1145\/361002.361007"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/027836499201100602"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-12494-9_3"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2021.xvii.017"},{"key":"ref9","article-title":"Analytical Derivatives of Rigid Body Dynamics Algorithms","volume-title":"Robotics: Science and Systems (RSS 2018)","author":"Carpentier"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/SII.2019.8700380"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-44051-0_4"},{"key":"ref12","doi-asserted-by":"crossref","DOI":"10.1007\/978-0-8176-4803-9","volume-title":"Stochastic Models, Information Theory, and Lie Groups","volume":"1","author":"Chirikjian","year":"2009"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4614-4244-8"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4899-7560-7"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-80209-7_14"},{"key":"ref16","doi-asserted-by":"crossref","DOI":"10.1109\/IROS47612.2022.9981586","article-title":"Constrained Differential Dynamic Programming: A primal-dual augmented Lagrangian approach","volume-title":"2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Jallet"},{"key":"ref17","author":"Kamat","year":"2022","journal-title":"Bitkomo: Combining sampling and optimization for fast convergence in optimal motion planning"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.cad.2004.01.004"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1308895"},{"key":"ref20","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-4612-0541-8","volume-title":"Fundamentals of Differential Geometry","author":"Lang","year":"1999"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-4022-9"},{"key":"ref22","doi-asserted-by":"crossref","DOI":"10.1017\/CBO9780511546877","volume-title":"Planning Algorithms","author":"LaValle","year":"2006"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1201\/9781439864135-43"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1177\/027836490001900605"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/tc.1983.1676196"},{"key":"ref26","doi-asserted-by":"crossref","DOI":"10.1145\/3501710.3519518","article-title":"Successive Convexification for Optimal Control with Signal Temporal Logic Specifications","volume-title":"25th ACM International Conference on Hybrid Systems: Computation and Control (HSCC 22)","author":"Mao"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.nonrwa.2015.09.011"},{"key":"ref28","volume-title":"Topology from the Differentiable Viewpoint","author":"Milnor","year":"1965"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-95459-8_4"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1080\/16864360.2005.10738324"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914528132"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1145\/3476576.3476603"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1016\/j.jde.2014.09.005"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094611"},{"key":"ref35","volume-title":"Convolution based smooth approximations to the absolute value function with application to non-smooth regularization","author":"Voronin","year":"2014"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611971453"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.614295"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.2991\/icetis-13.2013.147"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/70.704225"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1145\/1236246.1236270"}],"event":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","location":"London, United Kingdom","start":{"date-parts":[[2023,5,29]]},"end":{"date-parts":[[2023,6,2]]}},"container-title":["2023 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/10160211\/10160212\/10161367.pdf?arnumber=10161367","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,3]],"date-time":"2024-09-03T05:07:27Z","timestamp":1725340047000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10161367\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,5,29]]},"references-count":40,"URL":"https:\/\/doi.org\/10.1109\/icra48891.2023.10161367","relation":{},"subject":[],"published":{"date-parts":[[2023,5,29]]}}}